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Planning Motions with Intentions

Planning Motions with Intentions. A presentation on the paper Planning Motions with Intentions written by Yoshihito Koga, Koichi Kondo, James Kuffner and Jean-Claude Latombe. By Chris Montgomery. What is a “Motion with Intention?”. A motion for accomplishing some task Non-predictable

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Planning Motions with Intentions

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  1. Planning Motions with Intentions A presentation on the paper Planning Motions with Intentions written by Yoshihito Koga, Koichi Kondo, James Kuffner and Jean-Claude Latombe By Chris Montgomery

  2. What is a “Motion with Intention?” • A motion for accomplishing some task • Non-predictable • Cannot be described by laws physics • Solves a problem

  3. Our Goal • To Realize the automatic generation of human and robot arm motions to complete manipulation tasks

  4. Our Problem • Multi-Arm Manipulation Problem • Must find a collision free path for the arms to grasp and then carry some specified moveable object from its initial location to its desired goal • Must account for the ability of the arms to change their grasp on the object • Necessary to solve all problems

  5. Necessary Information to Create a New Path Planner • Geometry of the Environment • Initial and Goal Configurations • Set of Potential Grasps • Inverse Kinematics of the Arms

  6. Definitions • Stable Space • The set of all legal configurations where the object is statically stable between contacts (arms, obstacles, etc) • Grasp Space • The set of all the configurations where one or more of the arms rigidly grasp the object in a way that there is sufficient torque to move the object

  7. More Definitions • A Transit Path • Movement of an arm that does not move the object. • A Transfer Path • Movement of an arm(s) that moves the object. Some non-grasping arms may also be moving to avoid collisions.

  8. More Definitions • Manipulation Path • An alternate sequence of transit and transfer paths that connect an initial system configuration to a goal system configuration

  9. Two-Stage Planning Approach • Generate a series of subtasks to achieve the system goal configuration • Plan a transit or transfer path for each subtask • But how can one determine whether a subtask can be completed without actually completing it?

  10. Generating a Path • While path is planned, arms are checked to ensure the object can be grasped • At every point along the path, the planner keeps a list of possible grasps

  11. Generating a path • Once a collision free path is found, the planner determines which grasp is valid longest • Transit path is planned with this grasp • If grasp will not last until the final configuration, right before the grasp becomes invalid the planner is used again

  12. Limitations • Transit task between two transfer tasks is difficult to solve when ungrasp/regrasp is necessary • Intermediate step is necessary

  13. Limitations to this process • Does not plan for regrasps at configurations where the object makes contact with an obstacle • Only probabilistically complete • Computation time cannot be bounded in advance—could run forever • However, it usually returns a path quickly, so an arbitrary time can be set to determine when a path is not possible

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